非完整约束大负重比六足机器人多机动态协同编队避障控制策略

doi:10.3901/JME.2024.01.284

机械工程学报 ›› 2024, Vol. 60 ›› Issue (1): 284-295.doi: 10.3901/JME.2024.01.284

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非完整约束大负重比六足机器人多机动态协同编队避障控制策略

庄红超¹, 王柠², 董凯伦¹, 李卫华³, 周安亮⁴, 董磊¹, 夏怡芦¹

1. 天津职业技术师范大学机械工程学院天津 300222;
2. 天津职业技术师范大学信息技术工程学院天津 300222;
3. 哈尔滨工业大学(威海)汽车工程学院威海 264209;
4. 北京印刷学院机电工程学院北京 102600

收稿日期:2023-01-17 修回日期:2023-08-26 发布日期:2024-03-15
作者简介:庄红超(通信作者)，男，1982年出生，博士，副教授，硕士研究生导师。主要研究方向为重载足式机器人移动技术、宇航空间机构及控制技术、星球探测移动机器人技术。E-mail：hongchaozhuang@tute.edu.cn；zhuanghongchao_hit@163.com
王柠，女，1981年出生，博士，讲师。主要研究方向为特种机器人技术及应用、数据库理论、信息发布安全。E-mail：wangning811108@163.com
基金资助:
国家自然科学基金(51505335)、教育部高等教育司产学合作协同育人 (202102517001)、天津职业技术师范大学重点人才科研启动(KYQD1806)和天津市研究生科研创新(2021YJSS216, 2021YJSO2S33)资助项目。

Obstacle Avoidance Control Strategy of Multi-robot Dynamic Cooperative Formation of Large-load-ratio Six-legged Robot under Nonholonomic Constraints

ZHUANG Hongchao¹, WANG Ning², DONG Kailun¹, LI Weihua³, ZHOU Anliang⁴, DONG Lei¹, XIA Yilu¹

1. School of Mechanical Engineering, Tianjin University of Technology and Education, Tianjin 300222;
2. School of Information Technology Engineering, Tianjin University of Technology and Education, Tianjin 300222;
3. School of Automotive Engineering, Harbin Institute of Technology(Weihai), Weihai 264209;
4. School of Mechanical and Electrical Engineering, Beijing Institute of Graphic Communication, Beijing 102600

Received:2023-01-17 Revised:2023-08-26 Published:2024-03-15

摘要/Abstract

摘要： 在多机器人编队任务的现实环境中，不可避免会遇到队形变换的动态编队问题。为提高非结构环境多机器人编队的动态协同避障能力，以大负重比六足机器人的多机器人系统为例，利用非完整约束移动机器人轨迹跟踪的领航者-跟随者编队思想，提出多领航机器人分群一致性编队控制的动态队形变换避障策略。基于代数图论数学基础，设计大负重比六足机器人多机通信拓扑图与拓扑图分析矩阵，建立多领航者分群一致性编队系统的全局动态关系与一致性数学模型，提出多领航机器人分群一致性编队控制的动态队形变换避障策略，基于MATLAB软件实施仿真实验，仿真结果显示虚拟领航机器人发布控制指令使多机系统完成队形变换并顺利通过障碍物环境，验证多机动态协同编队避障控制策略的有效性和泛化能力。所提出的大负重比六足机器人多机动态协同编队避障控制策略，有助于提高非结构环境多机器人系统的地形通过能力。

关键词: 非完整约束, 大负重比六足机器人, 分群一致性, 协同编队, 队形变换

Abstract: In the real environment of multi-robot formation task, it is inevitable to encounter the dynamic formation problem of formation transformation. To improve the dynamic cooperative obstacle avoidance ability of multi-robot formation in unstructured environment, taking the multi-robot system of large-load-ratio six-legged robot as an example, an obstacle avoidance strategy of dynamic formation transformation for the cluster consensus of multi-leader robots is proposed by using the leader-follower formation idea of the trajectory tracking of nonholonomic constrained mobile robots. Based on the mathematical foundation of algebraic graph theory, the communication topology and topology analysis matrixes of multiple large-load-ratio six-legged robots are designed. The global dynamic relationship and consistency mathematical model of the multi-leader cluster consensus formation system are established. The obstacle avoidance strategy of dynamic formation transformation is proposed on the cluster consensus formation control of multi-leader robots. The simulation experiments are carried out based on MATLAB software. The simulation results show that the virtual leader robot issues the control commands to make the multi-robot system complete the formation transformation and smoothly pass through the obstacle environment. Then, the effectiveness and generalization ability of the obstacle avoidance control strategy are verified for the multi-robot dynamic cooperative formation. The proposed obstacle avoidance control strategy of multi-robot dynamic cooperative formation for the large-load-ratio six-legged robot is helpful to improve the terrain passing ability of multi-robot system in unstructured environment.

Key words: nonholonomic constraint, large-load-ratio six-legged robot, cluster consensus, cooperative formation, formation transformation

中图分类号:

TP242

庄红超, 王柠, 董凯伦, 李卫华, 周安亮, 董磊, 夏怡芦. 非完整约束大负重比六足机器人多机动态协同编队避障控制策略[J]. 机械工程学报, 2024, 60(1): 284-295.

ZHUANG Hongchao, WANG Ning, DONG Kailun, LI Weihua, ZHOU Anliang, DONG Lei, XIA Yilu. Obstacle Avoidance Control Strategy of Multi-robot Dynamic Cooperative Formation of Large-load-ratio Six-legged Robot under Nonholonomic Constraints[J]. Journal of Mechanical Engineering, 2024, 60(1): 284-295.

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非完整约束大负重比六足机器人多机动态协同编队避障控制策略

Obstacle Avoidance Control Strategy of Multi-robot Dynamic Cooperative Formation of Large-load-ratio Six-legged Robot under Nonholonomic Constraints

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